/*
 * @Description: 
 * @Author: Sang Hao
 * @Date: 2021-11-16 02:47:08
 * @LastEditTime: 2021-11-16 03:05:02
 * @LastEditors: Sang Hao
 */

#ifndef LIDAR_SLAM_MODELS_CLOUD_FILTER_RANGE_FILTER_HPP_
#define LIDAR_SLAM_MODELS_CLOUD_FILTER_RANGE_FILTER_HPP_

#include <yaml-cpp/yaml.h>
#include "lidar_slam/models/cloud_filter/cloud_filter_interface.hpp"

namespace lidar_slam {
class RangeFilter : public CloudFilterInterface {
private:
	float range_min_;
	float range_max_;

public:
	RangeFilter(const YAML::Node& config_node);
	RangeFilter(float range_min, float range_max);
	bool Filter(const CloudData::CLOUD_PTR& input_cloud_ptr, 
		CloudData::CLOUD_PTR& filter_cloud_ptr) override;
};
}


#endif